# Grasping Node

Pictures here.

Designed by [Dylan Thrush](www.dylanthrush.com)..

## Summary

Made for MR1718 as part of the OSU Robotics Club.

Controls 4 DC motors with quadrature encoder and current feedback. Has four analog inputs intended to be used with force resistors.

### Bill of Materials

[Bill of Materials](https://docs.google.com/spreadsheets/d/1zSJRJATg0B-pW4RrPtu3-lWw_H9taLzccoVNc3EoKm8/edit?usp=sharing)

#### Design files

[MR1718 GRASP on CircuitMaker](https://workspace.circuitmaker.com/Projects/Details/Dylan-Thrush-2/MR1718-GRASP)

### Downloads

[Schematic V1](files/grasp-v1-schematic.pdf)

[3D Model V1 (STEP)](files/grasp.step)

### Known Issues

#### Version 1
- Missing 3v3 rail connection to VBAT pin on Teensy. Will program without it, but will not boot without it.